问题
We're getting this compile error followed by many more errors showing attempts to match the subscribe parameters to all possible candidate functions when using boost::bind as a callback for subscribe.
error: no matching function for call to ‘ros::NodeHandle::subscribe(const char [18], int, boost::_bi::bind_t<void, void (*)(const geometry_msgs::WrenchStamped_<std::allocator<void> >&, moveit::planning_interface::MoveGroup&), boost::_bi::list2<boost::arg<1>, boost::_bi::value<moveit::planning_interface::MoveGroup*> > >)’
Our code is as follows. The commented lines show the code which works when the MoveGroup context (object pointer) is not passed.
#include <stdio.h>
#include <boost/bind.hpp>
#include <geometry_msgs/WrenchStamped.h>
#include <moveit/move_group_interface/move_group.h>
using namespace Eigen;
using namespace std;
//void contact_callback(const geometry_msgs::WrenchStamped& msg) {
void contact_callback(const geometry_msgs::WrenchStamped& msg, moveit::planning_interface::MoveGroup &group){
//if(msg.wrench.force.z > 5) group.stop();
}
int main(int argc, char **argv) {
ros::init(argc, argv, "get_stiffness");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
moveit::planning_interface::MoveGroup group("manipulator");
ros::Subscriber contact_sub;
//contact_sub = node_handle.subscribe("/finger1/nano17ft",1,contact_callback);
contact_sub = node_handle.subscribe("/finger1/nano17ft",100,boost::bind(contact_callback,_1,&group));
ros::waitForShutdown();
return 0;
}
回答1:
The handler takes a MoveGroup& but you pass it the address of group
.
Instead use ref(group)
:
boost::bind(contact_callback,_1,boost::ref(group))
Or, indeed
std::bind(contact_callback,std::placeholders::_1,std::ref(group))
UPDATE:
Your callback does not adhere to the required signature:
void contact_callback(const geometry_msgs::WrenchStamped&, moveit::planning_interface::MoveGroup & group) {
must be
void contact_callback(const boost::shared_ptr<geometry_msgs::WrenchStamped const>, moveit::planning_interface::MoveGroup & group) {
At the call site you must either make the message type explicit (it's in non-deducible context):
contact_sub = node_handle.subscribe<geometry_msgs::WrenchStamped>("/finger1/nano17ft", 100,
boost::bind(contact_callback, _1, boost::ref(group)));
OR you could simply explicitly wrap in a function<>
first:
boost::function<void(const boost::shared_ptr<geometry_msgs::WrenchStamped const>&)> callback =
boost::bind(contact_callback, _1, boost::ref(group));
contact_sub = node_handle.subscribe("/finger1/nano17ft", 100, callback);
Live Demo
With all roscpp/Eigen stuff stubbed out:
Live On Coliru
#include <boost/bind.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/function.hpp>
#include <iostream>
////////////////// STUBS STUBS STUBS //////
//#include <geometry_msgs/WrenchStamped.h>
namespace Eigen {}
namespace geometry_msgs {
struct WrenchStamped {}; }
namespace moveit { namespace planning_interface { struct MoveGroup { std::string name; MoveGroup(std::string s):name(s){} }; } }
namespace ros {
void init(...) {}
void waitForShutdown(...) {}
struct Subscriber {};
struct NodeHandle {
using VoidConstPtr = void const *;
enum class TransportHints {};
template <typename M>
Subscriber subscribe(const std::string &topic, uint32_t queue_size,
const boost::function<void(const boost::shared_ptr<M const> &)> &callback,
const VoidConstPtr &tracked_object = VoidConstPtr(),
const TransportHints &transport_hints = TransportHints())
{
(void)topic, (void)queue_size, void(tracked_object), void(transport_hints);
callback({});
return {};
}
};
struct AsyncSpinner {
AsyncSpinner(int) {}
void start() {}
};
};
//#include <moveit/move_group_interface/move_group.h>
////////////////// END STUBS END STUBS END STUBS //////
using namespace Eigen;
void contact_callback(const boost::shared_ptr<geometry_msgs::WrenchStamped const>, moveit::planning_interface::MoveGroup & group) {
// if(msg.wrench.force.z > 5) group.stop();
std::cout << "Invoked! " << group.name << "\n";
}
int main(int argc, char **argv) {
ros::init(argc, argv, "get_stiffness");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
moveit::planning_interface::MoveGroup group("manipulator");
ros::Subscriber contact_sub;
contact_sub = node_handle.subscribe<geometry_msgs::WrenchStamped>("/finger1/nano17ft", 100,
boost::bind(contact_callback, _1, boost::ref(group)));
{
boost::function<void(const boost::shared_ptr<geometry_msgs::WrenchStamped const>&)> callback =
boost::bind(contact_callback, _1, boost::ref(group));
contact_sub = node_handle.subscribe("/finger1/nano17ft", 100, callback);
}
ros::waitForShutdown();
}
Prints
Invoked! manipulator
Invoked! manipulator
来源:https://stackoverflow.com/questions/45309584/error-using-boostbind-for-subscribe-callback